Autonomous Mobile Robots

*** Robotics Students: I have previous final papers if you want to view them for educational purposes. Email me.
*** There are assorted robot video DVD's and mobile mpg's in the Prototyping Laboratory for your viewing pleasure.

Robot Tank Battle Videos

Tank Battle 2011 Clips

Tank Battle 2010 Clips

Tank Battle 2009 Clips (Part 1)
Tank Battle 2009 Clips (Part 2)

Tank Battle 2008 Clips

Tank Battle 2007 Clips

Tank Battle 2005 Clips

Tank Battle 2004 Clips

Semester Schedule - Schedule.xls

Week	Date	Topic	Project Due (Type) [Worth]
1	7-Sep-11	Introduction and Overview
2	14-Sep-11	Sensors	Formed Groups
3	21-Sep-11	Actuators/Controllers and programming
4	28-Sep-11	Tools Overview/ Individual Robot Proposal Review	Robot Proposal (Hand-In) [5%]
5	5-Oct-11	68HC11 Assembler	Finalized Robot Proposal (Hand-In) [5%]
6	12-Oct-11	Behavioral Programming Concepts
7	19-Oct-11	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
8	26-Oct-11	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
9	2-Nov-11	Lab/Discussions	Robot Construction Progress Oral Presentation [5%]
10	9-Nov-11	Lab/Discussions	Completed Robot Mobility Platform (Demo*) [10%]
11	16-Nov-11	Lab/Discussions	Light Tracking behavior (Demo*) [10%]
12	23-Nov-11	Lab/Discussions	Obstacle Avoidance behavior (Demo*) [10%]
13	30-Nov-11	Lab/Discussions	TBD
14	7-Dec-11	Lab/Discussions	TBD
15	14-Dec-11	Contest Running	Final Projects Due (Demo + Final Paper**) [45%]

* Each of these 3 "Demos" may be presented earlier (+2% per week) or later (-2% per week) up to the December 7 class.
Past the December 7 deadline, any incomplete Demo will receive 0%.

** The final contest is worth 10%. There will be 4 “achievements” where your robot has to succeed at once in order to get credit: Opponent Base Hit (+3%), Opponent Robot Hit (+3%), Return Home (+2%), No Collision/Round (+2%). The final paper is worth 35%.

ME412 Details

Course Description - ME412_Description.pdf

Semester Topics / Schedule - Schedule.xls

2011 Cooper Union Robot Tank Battle Arena

2011 Cooper Union Robot Tank Battle Rules

ME412 Resources

Video of 2004 Robot Tank Battle
Tank Battle 2004 Clips

Video of 2005 Robot Tank Battle
Tank Battle 2005 Clips

Video of 2007 Robot Tank Battle
Tank Battle 2007 Clips

Video of 2008 Robot Tank Battle
Tank Battle 2008 Clips

Videos of 2009 Robot Tank Battle
Tank Battle 2009 Clips (Part 1)
Tank Battle 2009 Clips (Part 2)

Videos of 2010 Robot Tank Battle
Tank Battle 2010 Clips

Videos of 2011 Robot Tank Battle
Tank Battle 2011 Clips

My Robotics Home Page - http://www.cooper.edu/~mar/Welcome.html

Videos of My Robot in Action - http://www.cooper.edu/~mar/mar.htm

My Robotics Links Page - http://www.cooper.edu/~mar/robotics_links.htm

Trinity College Fire Fighting Robot Home Page - http://www.trincoll.edu/events/robot/

Alumnus Andrew Louie's videos of his team's 2005 International Finals 3rd-place winning Fire-Fighting Robot - http://www.andrewlouie.com/cooper/

Robotics Competition FAQ - http://robots.net/rcfaq.html

Resistor Color Code Guide - http://www.elexp.com/t_resist.htm

Subsumption Architecture - http://ai.eecs.umich.edu/cogarch0/subsump/index.html

Previous final papers are also available. You can learn a lot from the experiences of past projects. Email me.

Wire Wrap Electronic Prototyping - http://www.youtube.com/watch?v=T-5dsaenRig

How To: Heat Shrink Tubing - http://en.wikipedia.org/wiki/Wire_wrap

ME Design Studio Safety Manual - All students must read this and pass a test prior to using any equipment.

Class Notes

Sensors - sensors.pdf

Actuators - actuators.pdf

My Demo IC program - emantest.c

Links to Commonly Used Devices

Contact Sensor datasheet - http://www.mouser.com/catalog/specsheets/MS-100118.pdf

CdS Light Sensor datasheet - http://www.mouser.com/catalog/specsheets/083393.pdf

Reflective Photosensor (QRD1114) datasheet - http://www.fairchildsemi.com/ds/QR/QRD1114.pdf

Modulated IR Proximity Detector (IS471F) - http://www.kronosrobotics.com/an150/DAN150.shtml

IR Range Sensor (GP2D12) - http://www.acroname.com/robotics/parts/R48-IR12.html
IR Range Sensor (GP2D120) - http://www.acroname.com/robotics/parts/R146-GP2D120.html
IR Range Sensor Handy Board Application Notes - http://www.acroname.com/examples/10011/10011.html
Sharp Distance Sensors datasheets - http://www.sharpsma.com/Page.aspx/americas/en/b25198ae-eeda-458b-a14f-92e2bd34f1c7/Distance_and_Air_Sensors/
GP2D120 Device Specification - http://www.acroname.com/robotics/parts/GP2D120_SS.pdf
Acroname Article "Demystifing the Sharp IR Rangers" - http://www.acroname.com/robotics/info/articles/sharp/sharp.html
Acroname Article "Voltage-to-Range Conversion" - http://www.acroname.com/robotics/info/articles/irlinear/irlinear.html
*info: GP2D's emit at ~ 850 +/- 70 nm

Devantec Sonar - http://www.acroname.com/robotics/parts/R271-SRF05.html
SF04 Technical Specification - http://www.robot-electronics.co.uk/htm/srf04tech.htm
SF04 Handy Board Application Notes - http://www.acroname.com/examples/10034/10034.html

Devantec Compass - http://www.acroname.com/robotics/parts/R117-COMPASS.html
CMPS03 Technical Specification - http://www.robot-electronics.co.uk/htm/cmps3tech.htm
CMPS03 Compass Module FAQ - http://www.robot-electronics.co.uk/htm/cmpsqa.shtml
Andrew Chanler's CMPS03 Handy Board drivers - http://www.cs.uml.edu/~achanler/robotics/

Melexis Anglar Rate Gyro (MLX90609) - http://www.melexis.com/Prodmain.aspx?nID=582
Micro Piezo Gyro (PG2033) - http://www.acroname.com/robotics/parts/R40-PG2033.html
PG2033 Specs - http://www.maxxprod.com/pdf/PG2033.pdf

Gyration Two-axis Gyro - http://www.gyration.com/t-Gyro.aspx

Article on MEMS Sensors

Standard Servo - http://www.acroname.com/robotics/parts/R276-S03N-SERVO.html

Servo Modified for Continuous Rotation - http://www.acroname.com/robotics/parts/R174-CONT-RO-SERVO.html

IR Emitting Diode (TSAL6400) - http://www.vishay.com/docs/81011/tsal6400.pdf
IR Phototransistor (BPV11F) - http://www.vishay.com/docs/81505/81505.pdf

Handy Board Home Page - http://www.handyboard.com/
Handy Board Software Resource - http://handyboard.com/oldhb/software/libs.html
Expansion Board for the Handy Board Home Page - http://handyboard.com/hb/hardware/expansion-board/
Handy Board Technical Reference - http://handyboard.com/oldhb/techdocs/hbmanual.pdf
Handy Board H-Bridge IC datasheet (rated for 1A max motors) - http://focus.ti.com/lit/ds/symlink/sn754410.pdf
68HC11 Microprocessor Reference Manual - http://www.handyboard.com/oldhb/techdocs/moto-6811-techref.pdf
Dr. Fred Martin's Introduction to 6811 Programming (assembler) - http://www.handyboard.com/oldhb/techdocs/6811intr.pdf
MC68HC11A8 Programming Reference Guide - MC68HC11.pdf
Yahoo! Newsgroup on Handy Board - http://groups.yahoo.com/group/handyboard/
Using an external power source to power the motors on the Handy Board - http://www.handyboard.com/oldhb/mods/hbmcut.html
Using an external power source to power the servos on the Expansion Board - http://www.handyboard.com/oldhb/hbexp30/software.html
Handy Board power adapter info! - http://handyboard.com/hb/faq/hardware-faqs/compatible-adapters/
DO NOT use the wrong RJ11cable! - http://handyboard.com/hb/faq/hardware-faqs/wrong-rj11-cable/

Interactive C 3.2 (Licensed) download site (email me for key if using) - http://www.newtonlabs.com/ic/ic_download.html
Note: I tried IC 3.2 on Windows Vista 64-bit. It didn't work for me. I had to use the BotBall version.
Please let me know if any other version you try doesn't work with Windows Vista. Thanks.
AS11_IC Assembler (Interactive C Binary compiler) - http://www.handyboard.com/oldhb/software/pcode_pc.zip

Continually updated "Botball" Interactive C download site - http://www.botball.org/educational-resources/ic.php

Drivers to Sabrent USB 2.0 to Serial (9-pin) DB-9 RS-232 Adapter (Model: SBT-USC1M) - http://sabrent.com/drivers.php